﻿using System;
using System.Collections.Generic;
using System.Text;

namespace SCI_actuator
{
    public class constant
    {
        public const string DEVICE_NUM = "01";
        public const string REG_PID_DEADBAND = "02";
        public const string REG_PID_PGAIN_HI = "03";
        public const string REG_PID_PGAIN_LO = "04";
        public const string REG_PID_DGAIN_HI = "05";
        public const string REG_PID_DGAIN_LO = "06";

        public const string REG_PID_V_PGAIN_HI = "07";
        public const string REG_PID_V_PGAIN_LO = "08";
        public const string REG_PID_V_IGAIN_HI = "09";
        public const string REG_PID_V_IGAIN_LO = "0A";
        public const string REG_FEED_FORWARD_HI = "0B";
        public const string REG_FEED_FORWARD_LO = "0C";

        public const string REG_MIN_SEEK_HI = "0D";
        public const string REG_MIN_SEEK_LO = "0E";
        public const string REG_MAX_SEEK_HI = "0F";
        public const string REG_MAX_SEEK_LO = "10";         

        public const string REG_BAUDRATE_H = "15";
        public const string REG_BAUDRATE_L = "16";

        public const string ALERT_CURR_MAX_LIMIT_HI = "17";
        public const string ALERT_CURR_MAX_LIMIT_LO = "18";

        public const string REG_CURVE_BUFFER = "28";
        public const string REG_T_BUFFER = "29";

        public const string REG_ACC = "FF";

        public const string REG_SEEK_POSITION_HI = "2C";
        public const string REG_SEEK_POSITION_LO = "2D";
        public const string REG_SEEK_VELOCITY_HI = "2E";
        public const string REG_SEEK_VELOCITY_LO = "2F";

        public const string REG_CURVE_DELTA_HI = "30";
        public const string REG_CURVE_DELTA_LO = "31";
        public const string REG_CURVE_POSITION_HI = "32";
        public const string REG_CURVE_POSITION_LO = "33";
        public const string REG_IN_VELOCITY_HI = "34";
        public const string REG_IN_VELOCITY_LO = "35";
        public const string REG_OUT_VELOCITY_HI = "36";
        public const string REG_OUT_VELOCITY_LO = "37";

        public const string REG_T_POSITION_HI = "38";
        public const string REG_T_POSITION_LO = "39";
        public const string REG_T_VELOCITY_HI = "3A";
        public const string REG_T_VELOCITY_LO = "3B";

        public const string BRAKE = "3C";
        public const string REG_MODEL = "3D";
        public const string REG_DELTA = "3E";
        public const string REG_CURVE_APPEND = "3F";
        public const string REG_CPCURVE = "40";
        public const string REG_ACTION = "41";
    }
}
